부산대학교 도서관

In collective intelligent robots, communication capability is considered as a key feature to decide how to design the collaboration policy. A cooperative routing robot system is suggested to maintain the communication capability in between human and a robot and an algorithm to establish a seamless global communication is proposed. Generating the radio signal map is suggested to estimate an area where communication is possible. If the robots only move in the area, they can prevent the disconnection of communication in different radio environments. The proposed algorithm is composed of two steps. At the first step, Extended Kalman Filter is designed to estimate state of the radio environments. Then, the communication link a radio signal map is generated using k-NN(Nearest Neighbors)algorithm. Experiments with routing robots and sensing system verify our proposed system and algorithm are valid in real environment.